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<a href="#nested-classes">类</a> &#124;
<a href="#pub-methods">Public 成员函数</a> &#124;
<a href="#pub-static-methods">静态 Public 成员函数</a> &#124;
<a href="#pub-attribs">Public 属性</a> &#124;
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<div class="title">pcl::on_nurbs::FittingCurve2dPDM类 参考</div>  </div>
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<p>Fitting a 2D B-Spline curve to 2D point-clouds using point-distance-minimization Based on paper: TODO  
 <a href="classpcl_1_1on__nurbs_1_1_fitting_curve2d_p_d_m.html#details">更多...</a></p>

<p><code>#include &lt;<a class="el" href="fitting__curve__2d__pdm_8h_source.html">fitting_curve_2d_pdm.h</a>&gt;</code></p>
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类 pcl::on_nurbs::FittingCurve2dPDM 继承关系图:</div>
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<area href="classpcl_1_1on__nurbs_1_1_fitting_curve2d_t_d_m.html" title="Fitting a 2D B-Spline curve to 2D point-clouds using tangent-distance-minimization Based on paper: TO..." alt="pcl::on_nurbs::FittingCurve2dTDM" shape="rect" coords="215,56,420,80"/>
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类</h2></td></tr>
<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">struct &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structpcl_1_1on__nurbs_1_1_fitting_curve2d_p_d_m_1_1_fit_parameter.html">FitParameter</a></td></tr>
<tr class="separator:"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">struct &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structpcl_1_1on__nurbs_1_1_fitting_curve2d_p_d_m_1_1_parameter.html">Parameter</a></td></tr>
<tr class="memdesc:"><td class="mdescLeft">&#160;</td><td class="mdescRight">Parameters for fitting  <a href="structpcl_1_1on__nurbs_1_1_fitting_curve2d_p_d_m_1_1_parameter.html#details">更多...</a><br /></td></tr>
<tr class="separator:"><td class="memSeparator" colspan="2">&#160;</td></tr>
</table><table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-methods"></a>
Public 成员函数</h2></td></tr>
<tr class="memitem:a52dfb216959057dc5365718115ffa6f6"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1on__nurbs_1_1_fitting_curve2d_p_d_m.html#a52dfb216959057dc5365718115ffa6f6">FittingCurve2dPDM</a> (int order, <a class="el" href="structpcl_1_1on__nurbs_1_1_nurbs_data_curve2d.html">NurbsDataCurve2d</a> *data)</td></tr>
<tr class="memdesc:a52dfb216959057dc5365718115ffa6f6"><td class="mdescLeft">&#160;</td><td class="mdescRight">Constructor initializing B-Spline curve using initNurbsCurve2D(...).  <a href="classpcl_1_1on__nurbs_1_1_fitting_curve2d_p_d_m.html#a52dfb216959057dc5365718115ffa6f6">更多...</a><br /></td></tr>
<tr class="separator:a52dfb216959057dc5365718115ffa6f6"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a705ffb3a76544f19d1a82848f6a1cec6"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1on__nurbs_1_1_fitting_curve2d_p_d_m.html#a705ffb3a76544f19d1a82848f6a1cec6">FittingCurve2dPDM</a> (<a class="el" href="structpcl_1_1on__nurbs_1_1_nurbs_data_curve2d.html">NurbsDataCurve2d</a> *data, const <a class="el" href="class_o_n___nurbs_curve.html">ON_NurbsCurve</a> &amp;nc)</td></tr>
<tr class="memdesc:a705ffb3a76544f19d1a82848f6a1cec6"><td class="mdescLeft">&#160;</td><td class="mdescRight">Constructor initializing with the B-Spline curve given in argument 2.  <a href="classpcl_1_1on__nurbs_1_1_fitting_curve2d_p_d_m.html#a705ffb3a76544f19d1a82848f6a1cec6">更多...</a><br /></td></tr>
<tr class="separator:a705ffb3a76544f19d1a82848f6a1cec6"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:af20fc512f8822a0d771d33ffa2582366"><td class="memItemLeft" align="right" valign="top"><a id="af20fc512f8822a0d771d33ffa2582366"></a>
void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1on__nurbs_1_1_fitting_curve2d_p_d_m.html#af20fc512f8822a0d771d33ffa2582366">refine</a> ()</td></tr>
<tr class="memdesc:af20fc512f8822a0d771d33ffa2582366"><td class="mdescLeft">&#160;</td><td class="mdescRight">Refines curve by inserting a knot in the middle of each element. <br /></td></tr>
<tr class="separator:af20fc512f8822a0d771d33ffa2582366"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:aae9df39775ae7f50d10e0cfc75237572"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1on__nurbs_1_1_fitting_curve2d_p_d_m.html#aae9df39775ae7f50d10e0cfc75237572">refine</a> (double xi)</td></tr>
<tr class="memdesc:aae9df39775ae7f50d10e0cfc75237572"><td class="mdescLeft">&#160;</td><td class="mdescRight">Refines curve by inserting a knot in the middle of the element belonging to xi.  <a href="classpcl_1_1on__nurbs_1_1_fitting_curve2d_p_d_m.html#aae9df39775ae7f50d10e0cfc75237572">更多...</a><br /></td></tr>
<tr class="separator:aae9df39775ae7f50d10e0cfc75237572"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a42e779665f5bb300cbea3536bd1099fe"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1on__nurbs_1_1_fitting_curve2d_p_d_m.html#a42e779665f5bb300cbea3536bd1099fe">assemble</a> (const <a class="el" href="structpcl_1_1on__nurbs_1_1_fitting_curve2d_p_d_m_1_1_parameter.html">Parameter</a> &amp;parameter)</td></tr>
<tr class="memdesc:a42e779665f5bb300cbea3536bd1099fe"><td class="mdescLeft">&#160;</td><td class="mdescRight">Assemble the system of equations for fitting  <a href="classpcl_1_1on__nurbs_1_1_fitting_curve2d_p_d_m.html#a42e779665f5bb300cbea3536bd1099fe">更多...</a><br /></td></tr>
<tr class="separator:a42e779665f5bb300cbea3536bd1099fe"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ab1eee0baa3ac6c81ef7051bee22d6b94"><td class="memItemLeft" align="right" valign="top"><a id="ab1eee0baa3ac6c81ef7051bee22d6b94"></a>
virtual double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1on__nurbs_1_1_fitting_curve2d_p_d_m.html#ab1eee0baa3ac6c81ef7051bee22d6b94">solve</a> (double damp=1.0)</td></tr>
<tr class="memdesc:ab1eee0baa3ac6c81ef7051bee22d6b94"><td class="mdescLeft">&#160;</td><td class="mdescRight">Solve system of equations using Eigen or UmfPack (can be defined in on_nurbs.cmake), and updates B-Spline curve if a solution can be obtained. <br /></td></tr>
<tr class="separator:ab1eee0baa3ac6c81ef7051bee22d6b94"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a9b1534a8f8d60d9e81b9173b298a7c94"><td class="memItemLeft" align="right" valign="top">virtual double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1on__nurbs_1_1_fitting_curve2d_p_d_m.html#a9b1534a8f8d60d9e81b9173b298a7c94">updateCurve</a> (double damp)</td></tr>
<tr class="memdesc:a9b1534a8f8d60d9e81b9173b298a7c94"><td class="mdescLeft">&#160;</td><td class="mdescRight">Update curve according to the current system of equations.  <a href="classpcl_1_1on__nurbs_1_1_fitting_curve2d_p_d_m.html#a9b1534a8f8d60d9e81b9173b298a7c94">更多...</a><br /></td></tr>
<tr class="separator:a9b1534a8f8d60d9e81b9173b298a7c94"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a9d2b89f138c6773657d1a0868e99c269"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1on__nurbs_1_1_fitting_curve2d_p_d_m.html#a9d2b89f138c6773657d1a0868e99c269">addCPsOnClosestPointViolation</a> (double max_error)</td></tr>
<tr class="memdesc:a9d2b89f138c6773657d1a0868e99c269"><td class="mdescLeft">&#160;</td><td class="mdescRight">Adds control points in the middle and of elements, if the ends or the middle of the element is farther than max_error to the closest data point  <a href="classpcl_1_1on__nurbs_1_1_fitting_curve2d_p_d_m.html#a9d2b89f138c6773657d1a0868e99c269">更多...</a><br /></td></tr>
<tr class="separator:a9d2b89f138c6773657d1a0868e99c269"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a96257b84696221b802e9d30dbc4f7bdb"><td class="memItemLeft" align="right" valign="top"><a id="a96257b84696221b802e9d30dbc4f7bdb"></a>
void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1on__nurbs_1_1_fitting_curve2d_p_d_m.html#a96257b84696221b802e9d30dbc4f7bdb">setQuiet</a> (bool val)</td></tr>
<tr class="memdesc:a96257b84696221b802e9d30dbc4f7bdb"><td class="mdescLeft">&#160;</td><td class="mdescRight">Enable/Disable debug outputs in console. <br /></td></tr>
<tr class="separator:a96257b84696221b802e9d30dbc4f7bdb"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:aa462a4f93309c19d47725c55aac99f28"><td class="memItemLeft" align="right" valign="top"><a id="aa462a4f93309c19d47725c55aac99f28"></a>
void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1on__nurbs_1_1_fitting_curve2d_p_d_m.html#aa462a4f93309c19d47725c55aac99f28">setInverseParams</a> (int max_steps=200, double accuracy=1e-6)</td></tr>
<tr class="memdesc:aa462a4f93309c19d47725c55aac99f28"><td class="mdescLeft">&#160;</td><td class="mdescRight">Set parameters for inverse mapping. <br /></td></tr>
<tr class="separator:aa462a4f93309c19d47725c55aac99f28"><td class="memSeparator" colspan="2">&#160;</td></tr>
</table><table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-static-methods"></a>
静态 Public 成员函数</h2></td></tr>
<tr class="memitem:aab862283433214fb4326680a8598104f"><td class="memItemLeft" align="right" valign="top">static int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1on__nurbs_1_1_fitting_curve2d_p_d_m.html#aab862283433214fb4326680a8598104f">findElement</a> (double xi, const std::vector&lt; double &gt; &amp;elements)</td></tr>
<tr class="memdesc:aab862283433214fb4326680a8598104f"><td class="mdescLeft">&#160;</td><td class="mdescRight">Find the element in which the parameter xi lies.  <a href="classpcl_1_1on__nurbs_1_1_fitting_curve2d_p_d_m.html#aab862283433214fb4326680a8598104f">更多...</a><br /></td></tr>
<tr class="separator:aab862283433214fb4326680a8598104f"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a4cc8695c48fc3123971bd0522d007ca5"><td class="memItemLeft" align="right" valign="top">static <a class="el" href="class_o_n___nurbs_curve.html">ON_NurbsCurve</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1on__nurbs_1_1_fitting_curve2d_p_d_m.html#a4cc8695c48fc3123971bd0522d007ca5">removeCPsOnLine</a> (const <a class="el" href="class_o_n___nurbs_curve.html">ON_NurbsCurve</a> &amp;nurbs, double min_curve_th=-0.9)</td></tr>
<tr class="memdesc:a4cc8695c48fc3123971bd0522d007ca5"><td class="mdescLeft">&#160;</td><td class="mdescRight">Removes control points when it is collinear with its neighboring control points.  <a href="classpcl_1_1on__nurbs_1_1_fitting_curve2d_p_d_m.html#a4cc8695c48fc3123971bd0522d007ca5">更多...</a><br /></td></tr>
<tr class="separator:a4cc8695c48fc3123971bd0522d007ca5"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ae0df99ddcca2ce66d3d4a591b30623ea"><td class="memItemLeft" align="right" valign="top">static <a class="el" href="class_o_n___nurbs_curve.html">ON_NurbsCurve</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1on__nurbs_1_1_fitting_curve2d_p_d_m.html#ae0df99ddcca2ce66d3d4a591b30623ea">initCPsNurbsCurve2D</a> (int order, const vector_vec2d &amp;cps)</td></tr>
<tr class="memdesc:ae0df99ddcca2ce66d3d4a591b30623ea"><td class="mdescLeft">&#160;</td><td class="mdescRight">Initialize a closed B-Spline curve given a list of control points.  <a href="classpcl_1_1on__nurbs_1_1_fitting_curve2d_p_d_m.html#ae0df99ddcca2ce66d3d4a591b30623ea">更多...</a><br /></td></tr>
<tr class="separator:ae0df99ddcca2ce66d3d4a591b30623ea"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a555eeb3e079f097d5869b6f2032c937b"><td class="memItemLeft" align="right" valign="top">static <a class="el" href="class_o_n___nurbs_curve.html">ON_NurbsCurve</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1on__nurbs_1_1_fitting_curve2d_p_d_m.html#a555eeb3e079f097d5869b6f2032c937b">initNurbsCurve2D</a> (int order, const vector_vec2d &amp;data, int ncps=0, double radiusF=1.0)</td></tr>
<tr class="memdesc:a555eeb3e079f097d5869b6f2032c937b"><td class="mdescLeft">&#160;</td><td class="mdescRight">Initialize a closed B-Spline curve using the bounding circle of the point-cloud.  <a href="classpcl_1_1on__nurbs_1_1_fitting_curve2d_p_d_m.html#a555eeb3e079f097d5869b6f2032c937b">更多...</a><br /></td></tr>
<tr class="separator:a555eeb3e079f097d5869b6f2032c937b"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ac3cd818b268d62db82388a79e742b37e"><td class="memItemLeft" align="right" valign="top">static void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1on__nurbs_1_1_fitting_curve2d_p_d_m.html#ac3cd818b268d62db82388a79e742b37e">reverse</a> (<a class="el" href="class_o_n___nurbs_curve.html">ON_NurbsCurve</a> &amp;curve)</td></tr>
<tr class="memdesc:ac3cd818b268d62db82388a79e742b37e"><td class="mdescLeft">&#160;</td><td class="mdescRight">Reverse direction of rotation of a closed B-spline curve  <a href="classpcl_1_1on__nurbs_1_1_fitting_curve2d_p_d_m.html#ac3cd818b268d62db82388a79e742b37e">更多...</a><br /></td></tr>
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<tr class="memitem:a2f5e8c945afa31a07384db3d5332b8cb"><td class="memItemLeft" align="right" valign="top"><a id="a2f5e8c945afa31a07384db3d5332b8cb"></a>
static std::vector&lt; double &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1on__nurbs_1_1_fitting_curve2d_p_d_m.html#a2f5e8c945afa31a07384db3d5332b8cb">getElementVector</a> (const <a class="el" href="class_o_n___nurbs_curve.html">ON_NurbsCurve</a> &amp;nurbs)</td></tr>
<tr class="memdesc:a2f5e8c945afa31a07384db3d5332b8cb"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get the elements of a B-Spline curve. <br /></td></tr>
<tr class="separator:a2f5e8c945afa31a07384db3d5332b8cb"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ac1b320f3a53aec16b5f01d647a07e8c9"><td class="memItemLeft" align="right" valign="top">static double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1on__nurbs_1_1_fitting_curve2d_p_d_m.html#ac1b320f3a53aec16b5f01d647a07e8c9">inverseMapping</a> (const <a class="el" href="class_o_n___nurbs_curve.html">ON_NurbsCurve</a> &amp;nurbs, const Eigen::Vector2d &amp;pt, const double &amp;hint, double &amp;error, Eigen::Vector2d &amp;p, Eigen::Vector2d &amp;t, double rScale, int maxSteps=100, double accuracy=1e-6, bool quiet=true)</td></tr>
<tr class="memdesc:ac1b320f3a53aec16b5f01d647a07e8c9"><td class="mdescLeft">&#160;</td><td class="mdescRight">Inverse mapping / point inversion: Given a point pt, this function finds the closest point on the B-Spline curve using Newtons method and point-distance (L2-, Euclidean norm).  <a href="classpcl_1_1on__nurbs_1_1_fitting_curve2d_p_d_m.html#ac1b320f3a53aec16b5f01d647a07e8c9">更多...</a><br /></td></tr>
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<tr class="memitem:aa91ec78c3c18fcc33be0d5522066aa6f"><td class="memItemLeft" align="right" valign="top"><a id="aa91ec78c3c18fcc33be0d5522066aa6f"></a>
static double&#160;</td><td class="memItemRight" valign="bottom"><b>inverseMappingO2</b> (const <a class="el" href="class_o_n___nurbs_curve.html">ON_NurbsCurve</a> &amp;nurbs, const Eigen::Vector2d &amp;pt, double &amp;error, Eigen::Vector2d &amp;p, Eigen::Vector2d &amp;t)</td></tr>
<tr class="separator:aa91ec78c3c18fcc33be0d5522066aa6f"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a330b8e265e6eea102ef07cd1c963c232"><td class="memItemLeft" align="right" valign="top">static double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1on__nurbs_1_1_fitting_curve2d_p_d_m.html#a330b8e265e6eea102ef07cd1c963c232">findClosestElementMidPoint</a> (const <a class="el" href="class_o_n___nurbs_curve.html">ON_NurbsCurve</a> &amp;nurbs, const Eigen::Vector2d &amp;pt)</td></tr>
<tr class="memdesc:a330b8e265e6eea102ef07cd1c963c232"><td class="mdescLeft">&#160;</td><td class="mdescRight">Given a point pt, the function finds the closest midpoint of the elements of the curve.  <a href="classpcl_1_1on__nurbs_1_1_fitting_curve2d_p_d_m.html#a330b8e265e6eea102ef07cd1c963c232">更多...</a><br /></td></tr>
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<tr class="memitem:a87493be8469c7726f8ba23b30699c9f3"><td class="memItemLeft" align="right" valign="top"><a id="a87493be8469c7726f8ba23b30699c9f3"></a>
static double&#160;</td><td class="memItemRight" valign="bottom"><b>findClosestElementMidPoint</b> (const <a class="el" href="class_o_n___nurbs_curve.html">ON_NurbsCurve</a> &amp;nurbs, const Eigen::Vector2d &amp;pt, double hint)</td></tr>
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</table><table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-attribs"></a>
Public 属性</h2></td></tr>
<tr class="memitem:a1a1d0206db41586266e251c983619353"><td class="memItemLeft" align="right" valign="top"><a id="a1a1d0206db41586266e251c983619353"></a>
<a class="el" href="class_o_n___text_log.html">ON_TextLog</a>&#160;</td><td class="memItemRight" valign="bottom"><b>m_out</b></td></tr>
<tr class="separator:a1a1d0206db41586266e251c983619353"><td class="memSeparator" colspan="2">&#160;</td></tr>
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<a class="el" href="class_o_n___nurbs_curve.html">ON_NurbsCurve</a>&#160;</td><td class="memItemRight" valign="bottom"><b>m_nurbs</b></td></tr>
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<tr class="memitem:a1a6fd853078680375e4ebd7b2698b544"><td class="memItemLeft" align="right" valign="top"><a id="a1a6fd853078680375e4ebd7b2698b544"></a>
<a class="el" href="structpcl_1_1on__nurbs_1_1_nurbs_data_curve2d.html">NurbsDataCurve2d</a> *&#160;</td><td class="memItemRight" valign="bottom"><b>m_data</b></td></tr>
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</table><table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pro-methods"></a>
Protected 成员函数</h2></td></tr>
<tr class="memitem:a84a4e080e6d8d9a22e9db106422ae1ce"><td class="memItemLeft" align="right" valign="top"><a id="a84a4e080e6d8d9a22e9db106422ae1ce"></a>
virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1on__nurbs_1_1_fitting_curve2d_p_d_m.html#a84a4e080e6d8d9a22e9db106422ae1ce">addPointConstraint</a> (const double &amp;param, const Eigen::Vector2d &amp;point, double weight, unsigned &amp;row)</td></tr>
<tr class="memdesc:a84a4e080e6d8d9a22e9db106422ae1ce"><td class="mdescLeft">&#160;</td><td class="mdescRight">Add minimization constraint: point-to-curve distance (point-distance-minimization). <br /></td></tr>
<tr class="separator:a84a4e080e6d8d9a22e9db106422ae1ce"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a93b6dce874b79936724566d2efe07e85"><td class="memItemLeft" align="right" valign="top"><a id="a93b6dce874b79936724566d2efe07e85"></a>
virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1on__nurbs_1_1_fitting_curve2d_p_d_m.html#a93b6dce874b79936724566d2efe07e85">addCageRegularisation</a> (double weight, unsigned &amp;row)</td></tr>
<tr class="memdesc:a93b6dce874b79936724566d2efe07e85"><td class="mdescLeft">&#160;</td><td class="mdescRight">Add minimization constraint: smoothness by control point regularisation. <br /></td></tr>
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<tr class="memitem:a8cf1600718f0fd219106694a119ad369"><td class="memItemLeft" align="right" valign="top"><a id="a8cf1600718f0fd219106694a119ad369"></a>
virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1on__nurbs_1_1_fitting_curve2d_p_d_m.html#a8cf1600718f0fd219106694a119ad369">assembleInterior</a> (double wInt, double rScale, unsigned &amp;row)</td></tr>
<tr class="memdesc:a8cf1600718f0fd219106694a119ad369"><td class="mdescLeft">&#160;</td><td class="mdescRight">Assemble point-to-curve constraints. <br /></td></tr>
<tr class="separator:a8cf1600718f0fd219106694a119ad369"><td class="memSeparator" colspan="2">&#160;</td></tr>
</table><table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pro-attribs"></a>
Protected 属性</h2></td></tr>
<tr class="memitem:a7b829f9972a93d7380a108b82914fa7c"><td class="memItemLeft" align="right" valign="top"><a id="a7b829f9972a93d7380a108b82914fa7c"></a>
<a class="el" href="classpcl_1_1on__nurbs_1_1_nurbs_solve.html">NurbsSolve</a>&#160;</td><td class="memItemRight" valign="bottom"><b>m_solver</b></td></tr>
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<tr class="memitem:ac5a9b1e65384d3eabbbe89e586cdfa2d"><td class="memItemLeft" align="right" valign="top"><a id="ac5a9b1e65384d3eabbbe89e586cdfa2d"></a>
bool&#160;</td><td class="memItemRight" valign="bottom"><b>m_quiet</b></td></tr>
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<tr class="memitem:a9a46ee36ffa97bba12c06e033b5f8777"><td class="memItemLeft" align="right" valign="top"><a id="a9a46ee36ffa97bba12c06e033b5f8777"></a>
int&#160;</td><td class="memItemRight" valign="bottom"><b>in_max_steps</b></td></tr>
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<tr class="memitem:a468266d32ba36a4162275eddfda59f5f"><td class="memItemLeft" align="right" valign="top"><a id="a468266d32ba36a4162275eddfda59f5f"></a>
double&#160;</td><td class="memItemRight" valign="bottom"><b>in_accuracy</b></td></tr>
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<a name="details" id="details"></a><h2 class="groupheader">详细描述</h2>
<div class="textblock"><p>Fitting a 2D B-Spline curve to 2D point-clouds using point-distance-minimization Based on paper: TODO </p>
<dl class="section author"><dt>作者</dt><dd>Thomas Mörwald </dd></dl>
</div><h2 class="groupheader">构造及析构函数说明</h2>
<a id="a52dfb216959057dc5365718115ffa6f6"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a52dfb216959057dc5365718115ffa6f6">&#9670;&nbsp;</a></span>FittingCurve2dPDM() <span class="overload">[1/2]</span></h2>

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          <td class="memname">pcl::on_nurbs::FittingCurve2dPDM::FittingCurve2dPDM </td>
          <td>(</td>
          <td class="paramtype">int&#160;</td>
          <td class="paramname"><em>order</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="structpcl_1_1on__nurbs_1_1_nurbs_data_curve2d.html">NurbsDataCurve2d</a> *&#160;</td>
          <td class="paramname"><em>data</em>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
        </tr>
      </table>
</div><div class="memdoc">

<p>Constructor initializing B-Spline curve using initNurbsCurve2D(...). </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">order</td><td>the polynomial order of the B-Spline curve. </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">data</td><td>pointer to the 2D point-cloud data to be fit. </td></tr>
  </table>
  </dd>
</dl>

</div>
</div>
<a id="a705ffb3a76544f19d1a82848f6a1cec6"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a705ffb3a76544f19d1a82848f6a1cec6">&#9670;&nbsp;</a></span>FittingCurve2dPDM() <span class="overload">[2/2]</span></h2>

<div class="memitem">
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          <td class="memname">pcl::on_nurbs::FittingCurve2dPDM::FittingCurve2dPDM </td>
          <td>(</td>
          <td class="paramtype"><a class="el" href="structpcl_1_1on__nurbs_1_1_nurbs_data_curve2d.html">NurbsDataCurve2d</a> *&#160;</td>
          <td class="paramname"><em>data</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">const <a class="el" href="class_o_n___nurbs_curve.html">ON_NurbsCurve</a> &amp;&#160;</td>
          <td class="paramname"><em>nc</em>&#160;</td>
        </tr>
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          <td></td>
          <td>)</td>
          <td></td><td></td>
        </tr>
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<p>Constructor initializing with the B-Spline curve given in argument 2. </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">data</td><td>pointer to the 2D point-cloud data to be fit. </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">nc</td><td>B-Spline curve used for fitting. </td></tr>
  </table>
  </dd>
</dl>

</div>
</div>
<h2 class="groupheader">成员函数说明</h2>
<a id="a9d2b89f138c6773657d1a0868e99c269"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a9d2b89f138c6773657d1a0868e99c269">&#9670;&nbsp;</a></span>addCPsOnClosestPointViolation()</h2>

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          <td class="memname">void pcl::on_nurbs::FittingCurve2dPDM::addCPsOnClosestPointViolation </td>
          <td>(</td>
          <td class="paramtype">double&#160;</td>
          <td class="paramname"><em>max_error</em></td><td>)</td>
          <td></td>
        </tr>
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<p>Adds control points in the middle and of elements, if the ends or the middle of the element is farther than max_error to the closest data point </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">max_error</td><td>defining the max allowed distance between data points and curve. </td></tr>
  </table>
  </dd>
</dl>

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<h2 class="memtitle"><span class="permalink"><a href="#a42e779665f5bb300cbea3536bd1099fe">&#9670;&nbsp;</a></span>assemble()</h2>

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          <td class="memname">virtual void pcl::on_nurbs::FittingCurve2dPDM::assemble </td>
          <td>(</td>
          <td class="paramtype">const <a class="el" href="structpcl_1_1on__nurbs_1_1_fitting_curve2d_p_d_m_1_1_parameter.html">Parameter</a> &amp;&#160;</td>
          <td class="paramname"><em>parameter</em></td><td>)</td>
          <td></td>
        </tr>
      </table>
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<p>Assemble the system of equations for fitting </p>
<ul>
<li>for large point-clouds this is time consuming.</li>
<li>should be done once before refinement to initialize the starting points for point inversion. </li>
</ul>

<p>被 <a class="el" href="classpcl_1_1on__nurbs_1_1_fitting_curve2d_s_d_m.html#a60f406cd24197e80c74b456b7bb05b8c">pcl::on_nurbs::FittingCurve2dSDM</a> , 以及 <a class="el" href="classpcl_1_1on__nurbs_1_1_fitting_curve2d_t_d_m.html#acfcee87c741d8ca35b65e1abca665d8b">pcl::on_nurbs::FittingCurve2dTDM</a> 重载.</p>

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<a id="a330b8e265e6eea102ef07cd1c963c232"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a330b8e265e6eea102ef07cd1c963c232">&#9670;&nbsp;</a></span>findClosestElementMidPoint()</h2>

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          <td class="memname">static double pcl::on_nurbs::FittingCurve2dPDM::findClosestElementMidPoint </td>
          <td>(</td>
          <td class="paramtype">const <a class="el" href="class_o_n___nurbs_curve.html">ON_NurbsCurve</a> &amp;&#160;</td>
          <td class="paramname"><em>nurbs</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">const Eigen::Vector2d &amp;&#160;</td>
          <td class="paramname"><em>pt</em>&#160;</td>
        </tr>
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          <td></td>
          <td>)</td>
          <td></td><td></td>
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<p>Given a point pt, the function finds the closest midpoint of the elements of the curve. </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">nurbs</td><td>the B-Spline curve. </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">pt</td><td>the point to which the closest midpoint of the elements will be computed. return closest midpoint in parametric domain. </td></tr>
  </table>
  </dd>
</dl>

</div>
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<a id="aab862283433214fb4326680a8598104f"></a>
<h2 class="memtitle"><span class="permalink"><a href="#aab862283433214fb4326680a8598104f">&#9670;&nbsp;</a></span>findElement()</h2>

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          <td class="memname">static int pcl::on_nurbs::FittingCurve2dPDM::findElement </td>
          <td>(</td>
          <td class="paramtype">double&#160;</td>
          <td class="paramname"><em>xi</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">const std::vector&lt; double &gt; &amp;&#160;</td>
          <td class="paramname"><em>elements</em>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
        </tr>
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<p>Find the element in which the parameter xi lies. </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">xi</td><td>value in parameter domain of the B-Spline curve. </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">elements</td><td>the vector of elements of the curve. </td></tr>
  </table>
  </dd>
</dl>
<dl class="section return"><dt>返回</dt><dd>index of the element with respect to elements. </dd></dl>

</div>
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<h2 class="memtitle"><span class="permalink"><a href="#ae0df99ddcca2ce66d3d4a591b30623ea">&#9670;&nbsp;</a></span>initCPsNurbsCurve2D()</h2>

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          <td class="memname">static <a class="el" href="class_o_n___nurbs_curve.html">ON_NurbsCurve</a> pcl::on_nurbs::FittingCurve2dPDM::initCPsNurbsCurve2D </td>
          <td>(</td>
          <td class="paramtype">int&#160;</td>
          <td class="paramname"><em>order</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">const vector_vec2d &amp;&#160;</td>
          <td class="paramname"><em>cps</em>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
        </tr>
      </table>
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<p>Initialize a closed B-Spline curve given a list of control points. </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">order</td><td>polynomial order of the curve. </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">cps</td><td>sequence of control points. </td></tr>
  </table>
  </dd>
</dl>
<dl class="section return"><dt>返回</dt><dd>B-Spline curve. </dd></dl>

</div>
</div>
<a id="a555eeb3e079f097d5869b6f2032c937b"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a555eeb3e079f097d5869b6f2032c937b">&#9670;&nbsp;</a></span>initNurbsCurve2D()</h2>

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          <td class="memname">static <a class="el" href="class_o_n___nurbs_curve.html">ON_NurbsCurve</a> pcl::on_nurbs::FittingCurve2dPDM::initNurbsCurve2D </td>
          <td>(</td>
          <td class="paramtype">int&#160;</td>
          <td class="paramname"><em>order</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">const vector_vec2d &amp;&#160;</td>
          <td class="paramname"><em>data</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">int&#160;</td>
          <td class="paramname"><em>ncps</em> = <code>0</code>, </td>
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          <td></td>
          <td class="paramtype">double&#160;</td>
          <td class="paramname"><em>radiusF</em> = <code>1.0</code>&#160;</td>
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          <td>)</td>
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<p>Initialize a closed B-Spline curve using the bounding circle of the point-cloud. </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">order</td><td>polynomial order of the curve. </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">data</td><td>2D point-cloud </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">ncps</td><td>number of control points </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">radiusF</td><td>radius factor multiplied to the radius of the bounding circle. </td></tr>
  </table>
  </dd>
</dl>
<dl class="section return"><dt>返回</dt><dd>B-Spline curve. </dd></dl>

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<h2 class="memtitle"><span class="permalink"><a href="#ac1b320f3a53aec16b5f01d647a07e8c9">&#9670;&nbsp;</a></span>inverseMapping()</h2>

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          <td class="memname">static double pcl::on_nurbs::FittingCurve2dPDM::inverseMapping </td>
          <td>(</td>
          <td class="paramtype">const <a class="el" href="class_o_n___nurbs_curve.html">ON_NurbsCurve</a> &amp;&#160;</td>
          <td class="paramname"><em>nurbs</em>, </td>
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          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">const Eigen::Vector2d &amp;&#160;</td>
          <td class="paramname"><em>pt</em>, </td>
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          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">const double &amp;&#160;</td>
          <td class="paramname"><em>hint</em>, </td>
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          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">double &amp;&#160;</td>
          <td class="paramname"><em>error</em>, </td>
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          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">Eigen::Vector2d &amp;&#160;</td>
          <td class="paramname"><em>p</em>, </td>
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          <td class="paramname"><em>t</em>, </td>
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          <td class="paramtype">double&#160;</td>
          <td class="paramname"><em>rScale</em>, </td>
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          <td class="paramkey"></td>
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          <td class="paramtype">int&#160;</td>
          <td class="paramname"><em>maxSteps</em> = <code>100</code>, </td>
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          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">double&#160;</td>
          <td class="paramname"><em>accuracy</em> = <code>1e-6</code>, </td>
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          <td></td>
          <td class="paramtype">bool&#160;</td>
          <td class="paramname"><em>quiet</em> = <code>true</code>&#160;</td>
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          <td>)</td>
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<p>Inverse mapping / point inversion: Given a point pt, this function finds the closest point on the B-Spline curve using Newtons method and point-distance (L2-, Euclidean norm). </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">nurbs</td><td>the B-Spline curve. </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">pt</td><td>the point to which the closest point on the curve will be computed. </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">hint</td><td>the starting point in parametric domain (warning: may lead to convergence at local minima). </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">error</td><td>the distance between the point pt and p after convergence. </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">p</td><td>closest point on curve. </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">t</td><td>the tangent vector at point p. </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">maxSteps</td><td>maximum number of iterations. </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">accuracy</td><td>convergence criteria: if error is lower than accuracy the function returns </td></tr>
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</dl>
<dl class="section return"><dt>返回</dt><dd>closest point on curve in parametric domain. </dd></dl>

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<h2 class="memtitle"><span class="permalink"><a href="#aae9df39775ae7f50d10e0cfc75237572">&#9670;&nbsp;</a></span>refine()</h2>

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          <td class="memname">void pcl::on_nurbs::FittingCurve2dPDM::refine </td>
          <td>(</td>
          <td class="paramtype">double&#160;</td>
          <td class="paramname"><em>xi</em></td><td>)</td>
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<p>Refines curve by inserting a knot in the middle of the element belonging to xi. </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">xi</td><td>parameter defining the element to be refined. </td></tr>
  </table>
  </dd>
</dl>

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<h2 class="memtitle"><span class="permalink"><a href="#a4cc8695c48fc3123971bd0522d007ca5">&#9670;&nbsp;</a></span>removeCPsOnLine()</h2>

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          <td class="memname">static <a class="el" href="class_o_n___nurbs_curve.html">ON_NurbsCurve</a> pcl::on_nurbs::FittingCurve2dPDM::removeCPsOnLine </td>
          <td>(</td>
          <td class="paramtype">const <a class="el" href="class_o_n___nurbs_curve.html">ON_NurbsCurve</a> &amp;&#160;</td>
          <td class="paramname"><em>nurbs</em>, </td>
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          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">double&#160;</td>
          <td class="paramname"><em>min_curve_th</em> = <code>-0.9</code>&#160;</td>
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          <td></td>
          <td>)</td>
          <td></td><td></td>
        </tr>
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<p>Removes control points when it is collinear with its neighboring control points. </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">nurbs</td><td>the B-Spline curve to be altered. </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">min_curve_th</td><td>threshold for dot product of vector to neighboring control points (negative). </td></tr>
  </table>
  </dd>
</dl>
<dl class="section return"><dt>返回</dt><dd>the altered curve. </dd></dl>

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<h2 class="memtitle"><span class="permalink"><a href="#ac3cd818b268d62db82388a79e742b37e">&#9670;&nbsp;</a></span>reverse()</h2>

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          <td class="memname">static void pcl::on_nurbs::FittingCurve2dPDM::reverse </td>
          <td>(</td>
          <td class="paramtype"><a class="el" href="class_o_n___nurbs_curve.html">ON_NurbsCurve</a> &amp;&#160;</td>
          <td class="paramname"><em>curve</em></td><td>)</td>
          <td></td>
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<p>Reverse direction of rotation of a closed B-spline curve </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">curve</td><td>the curve to be reversed </td></tr>
  </table>
  </dd>
</dl>

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<h2 class="memtitle"><span class="permalink"><a href="#a9b1534a8f8d60d9e81b9173b298a7c94">&#9670;&nbsp;</a></span>updateCurve()</h2>

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          <td class="memname">virtual double pcl::on_nurbs::FittingCurve2dPDM::updateCurve </td>
          <td>(</td>
          <td class="paramtype">double&#160;</td>
          <td class="paramname"><em>damp</em></td><td>)</td>
          <td></td>
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<p>Update curve according to the current system of equations. </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">damp</td><td>damping factor from one iteration to the other. </td></tr>
  </table>
  </dd>
</dl>

<p>被 <a class="el" href="classpcl_1_1on__nurbs_1_1_fitting_curve2d_t_d_m.html#a8b10b4990fd80bd66e37011b19c99951">pcl::on_nurbs::FittingCurve2dTDM</a> , 以及 <a class="el" href="classpcl_1_1on__nurbs_1_1_fitting_curve2d_s_d_m.html#a77751e1d710e154759cc3c3489c71b2c">pcl::on_nurbs::FittingCurve2dSDM</a> 重载.</p>

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<hr/>该类的文档由以下文件生成:<ul>
<li>surface/include/pcl/surface/on_nurbs/<a class="el" href="fitting__curve__2d__pdm_8h_source.html">fitting_curve_2d_pdm.h</a></li>
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